FastOPD: On-Policy Distillation for Lightweight VLA Deployment

• 类型：arxiv
• 标识：2610.02832
• 链接：https://arxiv.org/abs/2610.02832
• 主分类：multimodal
• 形态：application
• TLDR：Vision-Language-Action (VLA) foundation models have scaled rapidly to enhance manipulation performance and generalizability, but this scaling incurs high computational costs that render real-world deployment increasingly challenging. Existing approaches typically mitigate this issue by designing smaller architectures or reducing the iterative denoising steps in flow-based policies. In this work, we propose FastOPD, a foundation-to-lightweight VLA framework that enables the practical deployment of large-scale VLAs through efficient on-policy distillation. Specifically, FastOPD adapts a flow map
• 副分类：engineering
• 待LLM分类：否
• 标题中文：FastOPD：面向轻量 VLA 部署的在线蒸馏
• TLDR中文：视觉-语言-动作（VLA）基础模型规模迅速扩大以提升操作性能与泛化能力，但这种规模化带来了高昂的计算成本，使真实世界部署日益困难。现有方法通常通过设计更小的架构或减少基于流（flow-based）策略中的迭代去噪步数来缓解该问题。本文提出 FastOPD，一个从基础到轻量的 VLA 框架，通过高效的在线蒸馏实现大规模 VLA 的实际部署。具体而言，FastOPD 适配流映射（flow map）……
• 来源文件：
• /inbox/tom/_candidates/2026-10-08-agent-rag-longcontext-candidates.json